Autonomous planar surface cleaning robot

ABSTRACT

A driving mechanism for an autonomous planar surface cleaning robot is disclosed. The driving mechanism includes a first transmission component and a second transmission component spaced apart in parallel relationship relative to the first transmission component. Each of the first and second transmission components defines first and second ends and first and second sides, wherein the first sides face each other and the second sides face away from each other in a direction transverse from the direction of motion and the first and second ends are oppositely spaced along the direction of motion. Each of the first and second transmission components are independently controllable by a control unit of the autonomous planar surface cleaning robot.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 15/488,127, filedApr. 14, 2017, entitled AUTONOMOUS PLANAR SURFACE CLEANING ROBOT, whichis a divisional application claiming priority under 35 U.S.C. § 121 toU.S. patent application Ser. No. 14/968,192, filed Dec. 14, 2015,entitled AUTONOMOUS PLANAR SURFACE CLEANING ROBOT, which is a divisionalapplication claiming priority under 35 U.S.C. § 121 to U.S. patentapplication Ser. No. 14/209,543, filed Mar. 13, 2014, entitledAUTONOMOUS PLANAR SURFACE CLEANING ROBOT, the entire disclosures ofwhich are hereby incorporated by reference herein.

BACKGROUND

The present disclosure relates to cleaning devices, and moreparticularly, to autonomous planar surface cleaning robots. Inparticular, the present disclosure relates to autonomous cleaning robotsthat include a transport driving mechanism, at least one vacuum source,and a cleaning zone and are capable of autonomously cleaning a verticalplanar surface such as a window pane. More particularly, the presentdisclosure relates to autonomous cleaning robots that suction tovertical planar surfaces such as a window pane using negative airpressure, e.g., vacuum. More particularly, the present disclosurerelates to transport driving mechanisms to enable cleaning robots tomove autonomously over a vertical planar surface while cleaning thesurface.

Traditionally, household windows are cleaned by opening or dismountingthe windows by manpower while the windows of a high building are cleanedby cleaning workers outside the building. It is very trouble anddangerous. Autonomous cleaning robots can be employed to clean verticalplanar surfaces such as windows.

Despite recent advances in autonomous cleaning robots there is a needfor an improved low cost, light weight, and easy to use autonomousplanar surface cleaning robot for household use. There is also a needfor an autonomous cleaning robot having a small size that is convenientto use. Furthermore, there is a need for an autonomous cleaning robotthat includes a feedback control mechanism to sense dangerous conditionswhile the robot is in motion and respond in a sufficient amount of timeto avoid such dangerous conditions.

SUMMARY

One aspect of the present disclosure provides a driving mechanism for anautonomous planar surface cleaning robot. The driving mechanismcomprises a first transmission component and a second transmissioncomponent spaced apart in parallel relationship relative to the firsttransmission component. Each of the first and second transmissioncomponents defines first and second ends and first and second sides,wherein the first sides face each other and the second sides face awayfrom each other in a direction transverse from the direction of motionand the first and second ends are oppositely spaced along the directionof motion. Each of the first and second transmission components areindependently controllable by a control unit of the autonomous planarsurface cleaning robot.

Another aspect of the present disclosure provides a driving mechanismfor an autonomous planar surface cleaning robot. The driving mechanismcomprises a first transmission component comprising a first motorelectrically coupled to a control unit, and a second transmissioncomponent comprising a second motor electrically coupled to the controlunit, wherein the second transmission component is spaced apart inparallel relationship relative to the first transmission component. Eachof the first and second transmission components defines first and secondends and first and second sides, wherein the first sides face each otherand the second sides face away from each other in a direction transversefrom the direction of motion and the first and second ends areoppositely spaced along the direction of motion. Each of the first andsecond transmission components are independently controllable by thecontrol unit.

Another aspect of the present disclosure provides a driving mechanismfor an autonomous planar surface cleaning robot. The driving mechanismcomprises a first transmission component comprising a first transmissionsystem, and a second transmission component comprising a secondtransmission system, wherein the second transmission component is spacedapart in parallel relationship relative to the first transmissioncomponent. Each of the first and second transmission components definesfirst and second ends and first and second sides, wherein the firstsides face each other and the second sides face away from each other ina direction transverse from the direction of motion and the first andsecond ends are oppositely spaced along the direction of motion. Each ofthe first and second transmission components are independentlycontrollable by a control unit.

In addition to the foregoing, various other aspects of devices and/orprocesses are set forth and described in the teachings such as text(e.g., claims and/or detailed description) and/or drawings of thepresent disclosure.

The foregoing is a summary and thus may contain simplifications,generalizations, inclusions, and/or omissions of detail; consequently,those skilled in the art will appreciate that the summary isillustrative only and is NOT intended to be in any way limiting of theclaimed subject matter. Other aspects, features, and advantages of thedevices and/or processes and/or other subject matter described hereinwill become apparent in the teachings set forth herein.

In one or more various aspects, related systems include but are notlimited to circuitry and/or programming for effecting herein-referencedmethod aspects; the circuitry and/or programming can be virtually anycombination of hardware, software, and/or firmware configured to effectthe herein-referenced method aspects depending upon the design choicesof the system designer. In addition to the foregoing, various othermethod and/or system aspects are set forth and described in theteachings such as text (e.g., claims and/or detailed description) and/ordrawings of the present disclosure.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

FIGURES

The novel features of the embodiments described herein are set forthwith particularity in the appended claims. The embodiments, however,both as to organization and methods of operation may be betterunderstood by reference to the following description, taken inconjunction with the accompanying drawings as follows.

FIG. 1 is a top perspective view of an autonomous planar surfacecleaning robot in accordance with one embodiment.

FIG. 2 is a bottom view of the autonomous cleaning robot shown in FIG. 1in accordance with one embodiment.

FIG. 3 is a bottom view of the autonomous cleaning robot shown in FIG. 2in accordance with one embodiment.

FIG. 4 is a bottom view of the autonomous cleaning robot shown in FIG. 3with a cleaning element removed to show the underlying structuralfeatures in accordance with one embodiment.

FIG. 5 is a cross-sectional view of a conventional robotic cleaner.

FIG. 6 is a cross-sectional view of the autonomous cleaning robot shownin FIGS. 1-4 in accordance with one embodiment.

FIG. 7 is a schematic block diagram showing the interrelationship ofvarious subsystems of an autonomous planar surface cleaning robot inaccordance with one embodiment.

FIG. 8 is a bottom view of a conventional robotic cleaner.

FIG. 9 is a bottom view of an autonomous planar surface cleaning robotcomprising a single vacuum source and multiple vacuum apertures inaccordance with one embodiment.

FIG. 10 depicts a bottom view of the autonomous cleaning robot shown inFIG. 9 where the robot is now shown in operation disposed behind aframeless planar surface from the viewing perspective in accordance withone embodiment.

FIG. 11 depicts a bottom view of the autonomous planar cleaning robotshown in FIG. 10 where the robot is now shown in operation partiallydisposed behind the frameless planar surface from the viewingperspective in accordance with one embodiment.

FIG. 12 depicts a bottom view of an autonomous planar surface cleaningrobot comprising multiple vacuum sources where the robot is now shown inoperation disposed behind a frameless planar surface from the viewingperspective in accordance with one embodiment.

FIG. 13 depicts a bottom view of the autonomous cleaning robot shown inFIG. 12 where the robot is now shown in operation partially disposedbehind the frameless planar surface from the viewing perspective inaccordance with one embodiment.

FIG. 14 is a top perspective view of an autonomous planar surfacecleaning robot comprising a vacuum source in accordance with oneembodiment.

FIG. 15 is a bottom perspective view of the autonomous cleaning robotshown in FIG. 14 in accordance with one embodiment.

FIG. 16 is a top perspective view of an autonomous planar surfacecleaning robot comprising multiple vacuum sources in accordance with oneembodiment.

FIG. 17 is a bottom perspective view of the autonomous cleaning robotshown in FIG. 16 in accordance with one embodiment.

FIG. 18 is a top perspective view of a planar surface cleaning devicecomprising multiple vacuum sources and a connector pole in accordancewith one embodiment.

FIG. 19 is a bottom perspective view of the planar surface cleaningdevice shown in FIG. 18 in accordance with one embodiment.

FIG. 20 is a top view of one component of a driving mechanism for anautonomous planar surface cleaning robot in accordance with oneembodiment.

FIG. 21 is a side view of one component of the driving mechanism shownin FIG. 20 in accordance with one embodiment.

FIG. 22 is an exploded view of a portion of the driving mechanism shownin FIGS. 20 and 21 in accordance with one embodiment.

FIG. 23 is a perspective view of a driving mechanism for a conventionalwindow cleaner.

FIG. 24 is a left side view of a driving mechanism for an autonomousplanar surface cleaning robot in accordance with one embodiment.

FIG. 25 is a bottom view of an autonomous planar surface cleaning robothaving a first driving mechanism configuration in accordance with oneembodiment.

FIG. 26 is a bottom view of an autonomous planar surface cleaning robothaving a second driving mechanism configuration in accordance with oneembodiment.

FIG. 27 is a bottom view of an autonomous planar surface cleaning robothaving a third driving mechanism configuration in accordance with oneembodiment.

FIG. 28 illustrates an architectural or component view of a control unitfor an autonomous planar surface cleaning robot in accordance with oneembodiment.

DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols and reference characters typically identify similarcomponents throughout the several views, unless context dictatesotherwise. The illustrative embodiments described in the detaileddescription, drawings, and claims are not meant to be limiting. Otherembodiments may be utilized, and other changes may be made, withoutdeparting from the scope of the subject matter presented here.

Before explaining various embodiments of autonomous planar surfacecleaning robots in detail, it should be noted that the variousembodiments disclosed herein are not limited in their application or useto the details of construction and arrangement of parts illustrated inthe accompanying drawings and description. Rather, the disclosedembodiments may be positioned or incorporated in other embodiments,variations and modifications thereof, and may be practiced or carriedout in various ways. Accordingly, embodiments of autonomous planarsurface cleaning robots disclosed herein are illustrative in nature andare not meant to limit the scope or application thereof. Furthermore,unless otherwise indicated, the terms and expressions employed hereinhave been chosen for the purpose of describing the embodiments for theconvenience of the reader and are not to limit the scope thereof. Inaddition, it should be understood that any one or more of the disclosedembodiments, expressions of embodiments, and/or examples thereof, can becombined with any one or more of the other disclosed embodiments,expressions of embodiments, and/or examples thereof, without limitation.

Also, in the following description, it is to be understood that termssuch as front, back, inside, outside, top, bottom, left, right, and thelike are words of convenience and are not to be construed as limitingterms. Terminology used herein is not meant to be limiting insofar asdevices described herein, or portions thereof, may be attached orutilized in other orientations. The various embodiments will bedescribed in more detail with reference to the drawings.

Accordingly, turning now to FIG. 1, there is illustrated a topperspective view of an autonomous planar surface cleaning robot 100 inaccordance with one embodiment and FIG. 2, which is a bottom view of theautonomous cleaning robot 100 shown in FIG. 1. With reference now toFIGS. 1 and 2, in one embodiment, the autonomous cleaning robot 100 is arobot configured for cleaning a planar surface such as, for example, aglass pane or plate glass commonly used for windows, glass doors,transparent walls, and windshields. Nevertheless, although the variousembodiments of the autonomous cleaning robot 100 are primarily disclosedin the context of a window cleaning application and particularly toclean vertically erect plate glass structures, such as a window, theautonomous cleaning robot 100 should not be construed as being limitedto this application. For example, the autonomous cleaning robot 100 maybe adapted and configured for cleaning any suitable planar surfacewhether oriented vertically, horizontally, or any suitable positiontherebetween. Suitable planar surfaces include, without limitation, anysubstantially flat plates, sheets made of various materials such asglass, mirrors, plastic, and/or metal, and/or any combination thereof,without limitation. The autonomous cleaning robot 100 is configured toattach to a vertical substantially flat planar structure by suctiondeveloped by negative air pressure between the robot 100 and the planarstructure. In any such cleaning applications, the autonomous cleaningrobot 100 is configured to clean the planar surface while movingautonomously along the surface.

Still with reference to FIGS. 1 and 2, in one embodiment the autonomousplanar surface cleaning robot 100 comprises a main body 102, a drivingmechanism 104 (or unit), at least one vacuum source 106, and a controlunit 148 (shown in FIGS. 7 and 28). The main body 102 comprises a cover108 portion and a base 110 portion. A handle 112 is positioned on anupper external portion of the cover 108. A cavity 142 (shown in FIG. 6)is defined between the cover 108 and the base 110. The vacuum source 106and the control unit 148 are positioned and supported within the cavity142. The driving mechanism 104 (or unit), the at least one vacuum source106, and the control unit 148 are supported by the main body 102.

In one embodiment, the driving mechanism 104 of the autonomous planarsurface cleaning robot 100 comprises two driving mechanisms arrangedlaterally to the left and right sides of the main body 102. As shown incombination with FIG. 20, each driving mechanism 104 comprises a motor105 a, a gear reducer 152 a, and a transmission system 154 a, asdescribed in more detail hereinbelow in connection with FIGS. 20-22. Thetransmission system 154 a comprises a synchronization belt 156, asynchronization driving wheel 158, and a synchronization wheel 160. Themotor 105 a rotatably drives the synchronization driving wheel 158 torotate the synchronization wheel 160 via the belt 156. The motion can beeither forwards or backwards and each driving mechanism 104 can beoperated independently to steer the autonomous cleaning robot 100 in adesired direction. It will be appreciated that as used herein the term“steer” means to guide or control the movement of or turn a vehicle suchas a robot.

With reference now to FIGS. 1, 2, and 6, the vacuum source 106 comprisesa vacuum motor 138 and an impeller 140 located within the inner space ofthe main body 102 and the handle 112. In detail, the impeller is locatedwithin the cavity 142 and the motor 138 is located within the space ofthe cavity 142 and an inner cavity 146 of the handle 112. The autonomousplanar surface cleaning robot 100 further comprises a removable cleaningcomponent 116, which may be referred to herein as a duster, for example.The removable cleaning component 116 is located about the outerperimeter of the base 110 and completely surrounds the base 110. Theremovable cleaning component 116 defines an outer perimeter 120 and aninner perimeter 122, where the outer perimeter 120 is substantiallyaligned with the outer perimeter 118 of the base 110. The center portionof the base 110 is recessed from the outer portion 118 of the base 110and defines a cavity 114 in the base 110 in a location within the innerperimeter 122 of the cleaning component 116. Accordingly, when theautonomous cleaning robot 100 is located on a substantially flat planarsurface and the vacuum source 106 is operational, a vacuum is developedbetween the cavity 114 and the planar surface. The removable cleaningcomponent 116 also acts as a seal to maintain the vacuum pressure to asuitable degree. The vacuum pressure can be selected such that theautonomous cleaning robot 100 can be attached to the planar surfacewhile still being able to move over the planar surface to perform itscleaning function, regardless of whether the planar surface is orientedvertically, horizontally or any position therebetween.

With reference to just FIGS. 1 and 2, the autonomous planar surfacecleaning robot 100 further comprises a light emitting diode (LED)indicator 124 and a castor 126 at the bottom of the base 110. The castor126 is a follower wheel and operates such that when the autonomouscleaning robot 100 meets a frame or other obstruction along the planarsurface, the castor 126 will be in an abnormal state causing the controlunit 148 (FIGS. 7 and 28) to control the driving mechanism 104 to causethe autonomous cleaning robot 100 to turn in a different directionaccording the status of the castor 126. Accordingly, the castor 126further ensures the safety of the autonomous robot 100. The LEDindicator 124 will flash when the autonomous cleaning robot 100 is in adangerous position.

Turning briefly now just to FIG. 1, which shows a second LED indicator128 arranged on top of the handle 112. The function of the second LEDindicator 128 is the same as the function of the first LED indicator 124positioned at the bottom of the base 110. Both LED indicators 124, 128inform the user of the status of the autonomous planar surface cleaningrobot 100 regardless of whether the autonomous cleaning robot 100 isworking inside or outside a transparent or translucent planar surfacerelative to the user.

As shown in FIG. 1, a power cord (not shown) is positioned in the handle112 through an opening 130 provided therethrough. The power cord isconfigured plug into a conventional electrical power outlet to supplyelectrical power for the driving mechanism 104, the vacuum source 106,and the control unit 148 (FIGS. 7 and 28), among other elements thatrequire electrical power.

Various embodiments of the planar surface cleaning robots describedherein employ a vacuum to adhere the robot to a vertical planar surface.This enables the cleaning robot to attach itself and move along verticala vertical wall, such as, for example, a window pane. In order for thecleaning robot to remain attached to a vertical wall, the followingrelationship must be satisfied:

PSμ≥G  (1)

Where P is the vacuum degree; S is the vacuum sealing area, μ is thefriction factor; and G is the force of gravity. For the same robotgravity G and friction factor μ, the sealing area S can be selected tobe relatively large in order to reduce the required vacuum degree P. Forexample, various embodiments of the cleaning robots described herein canbe attached to a planar surface such as a window pane when the vacuumdegree P>0.5 Kpa, making it possible for the cleaning robot to use ageneral impeller or pump to ensure the safe operability of the cleaningrobot. As shown in FIG. 2, the surface area S of the cleaning component116 is the vacuum sealing area. In one embodiment, the cleaning robotcan be attached to a planar surface such as a window pane when thevacuum degree P is between 0.5 Kpa and 2.0 Kpa. The cleaning robot canbe attached to a planar surface and moved to clean this surface when thevacuum degree P>2.0 Kpa.

FIG. 3 is a bottom view of the autonomous planar surface cleaning robot100 shown in FIGS. 1 and 2 in accordance with one embodiment. Theautonomous cleaning robot 100 comprises a main body 102, a drivingmechanism 104, a vacuum source 106, and a cleaning component 116. Alongitudinal axis 101 defines left and right halves of the main body 102along a direction parallel to the direction of the driving mechanism104. A transverse axis 103 intersects the longitudinal axis 101orthogonally and defines front and back halves of the main body 102. Avacuum cavity 114 is defined in the center of the main body 102 is avacuum cavity 114. The cleaning component 116 is arranged along theperimeter outside of the vacuum cavity 114. The robot 100 furthercomprises an LED indicator 124, a castor 126, and vacuum sensor 136.

The driving mechanism 104 comprises two transmission components 104 a,104 b arranged at the left and the right side of the main body 102relative to the forward and backward moving directions in parallelrelationship relative to each other. Each one of the transmissioncomponents 104 a, 104 b comprises a motor 105 a, 105 b, a gear reducer(not shown but an example is described in FIG. 20-22), and atransmission device (not shown but an example is described in FIG.20-22). As shown in FIG. 25, both motors 1038 a, 1308 b are positionedon the inner side of the transmission components 104 a, 104 b and on thesame ends.

FIG. 4 is a bottom view of the autonomous planar surface cleaning robot100 shown in FIG. 3 with the cleaning component 116 removed to show theunderlying structural features in accordance with one embodiment. Asshown in FIG. 4, the bottom of the base 110 comprises multiple apertures132. In the illustrated embodiment, the multiple apertures 132 arearranged at the front and back sides of the of the bottom portion 134 ofthe base 110. Nevertheless, in other embodiments, the multiple apertures132 may be arranged at the left and right side of the bottom portion 134of the base 110 or may be arranged all the way around the perimeter ofthe bottom portion 134 of the base 110. In one embodiment, the multipleapertures are prior to be arranged at the side of the bottom portion ofthe base in accordance with the moving direction of the autonomousplanar surface cleaning robot 100. The multiple apertures 132 arefluidically coupled to the vacuum cavity 114 defined by the base 110.The autonomous cleaning robot 100 further comprises a sensor 136configured to sense the degree of vacuum pressure within the cavity 114defined by the base 110.

The autonomous planar surface cleaning robot 100 is configured to moveforward and backward as propelled by the driving mechanism 104. However,as the autonomous cleaning robot 100 moves over a gap between adjacentplanar surfaces or an edge of a frameless planar surface, the exposedapertures 132 formed on the bottom of the base 110 will leak air, thusdropping the degree of vacuum pressure within the vacuum cavity 114,which is in fluid communication with the exposed aperture 132. If thedegree of vacuum pressure drops below a predetermined threshold, theautonomous cleaning robot 100 will fall off the vertical planar surface.To avoid this unsatisfactory condition, however, the sensor 136 measuresthe reduction in the degree of vacuum pressure within the vacuum cavity114 and sends a message (or signal) to the control unit 148 (FIGS. 7 and28), which instructs the driving mechanism 104 to change the directionof the autonomous cleaning robot 100 until the degree of vacuum pressurethe cavity 114 is restored to levels above the predetermined threshold.Thus, this feedback control mechanism can be employed to avoid dangersituations, such as, for example, the autonomous cleaning robot 100falling off a vertical planar surface.

The vacuum sensor 136 may be implemented in many configurations. In oneexample, the vacuum sensor 136 is configured to measure pressures belowatmospheric pressure, indicating the difference between the low pressureand atmospheric pressure (i.e., negative gauge pressure). In anotherexample, the vacuum sensor 136 is configured to measure low pressurerelative to a perfect vacuum (i.e., absolute pressure). Any suitablevacuum sensor or pressure sensor configuration may be employed providedthat it is configured to determine when the degree of vacuum pressure inthe vacuum cavity 114 drops below a predetermined threshold, which isselected based on the relationship PSμ≥G in equation (1).

FIG. 5 is a cross-sectional view of a conventional robotic cleaner. FIG.5 from US patent application publication No. US 2013/0037050 discloses aconventional window cleaning robot 200. Referring to FIG. 5, the cleaner200 comprises cleaning components 211 and 212, a pump module 230, adriving module 220 and a control system (not shown). The cleaningcomponents 211 and 212 and the plate 219 delimit one space 213 and 214.The pump module 230 is connected to the spaces 213 and 214 to pump airout of the space 213 and 214 to form a negative air pressure in thespaces 213 and 214 so that the cleaner 200 is sucked on the plate 219.The driving module 220 drives cleaning components 211 and 212. Thecontrol system (not shown) is coupled to the pump module 230 and thedriving module 220 and controls the driving module 220 to cause thecleaning components 211 and 212 to make a movement on the plate 219.However, the motor portion of the pump module 230 arrangement shown inFIG. 5 extends beyond the upper end of the machine housing 202.Furthermore, since the robot 200 does not include a handle, a user musthold both ends of the cleaner robot 200 in order to use it. These andother limitations and deficiencies associated with the conventionalwindow cleaning robot 200 are addressed by various embodiments of theautonomous planar surface cleaning robots described herein.

Accordingly, turning now to FIG. 6, there is shown a cross-sectionalview of the autonomous planar surface cleaning robot 100 shown in FIGS.1-4 in accordance with one embodiment. As previously discussed, theautonomous cleaning robot 100 may be employed to clean planar surfacessuch as windows, for example. The particular structure and arrangementof the autonomous cleaning robot 100 shown in FIGS. 1-4 and 6 provides asubstantial improvement in window cleaning autonomous robots having asmall size and that can be conveniently used by way of the handle 112.

As shown in FIG. 6, the autonomous planar surface cleaning robot 100comprises a main body 102. The main body 102 is formed by a cover 108and a base 110. A cavity 142 is defined between the cover 108 and thebase 110. The vacuum source 106 is positioned in the cavity 142 andoffset from the center of the autonomous cleaning robot 100. The vacuumsource 106 comprises a motor 138 operatively coupled to an impeller 140.The motor 138 is positioned in a generally perpendicular relationship tothe impeller 140, which is located below the motor 138. The motor 138drives the impeller 140 to rotate and generate a vacuum at the base 110of the autonomous cleaning robot 100 such that the robot 100 can suctionto a substantially planar surface such as a window plate.

The autonomous cleaning robot 100 further comprises a handle 112positioned at the upper portion of the cover 108. The handle 112 may beused to lift and carry the autonomous cleaning robot 100. Two innercavities 144, 146 are located at both ends of the handle 112. The innercavities 144, 146 can be separate from each other or can be connectedtogether. As shown in FIG. 6, the inner cavity 144 at the one side issuitable for containing a power cord cable and the inner cavity 146 atthe other side is suitable for containing at least a portion of themotor 138 and other components associated therewith.

Referring now to FIG. 7, there is shown a schematic block diagram 195showing the interrelationship of various subsystems of the autonomousplanar surface cleaning robot 100 in accordance with one embodiment. Theautonomous cleaning robot 100 comprises a driving mechanism 104, acontrol unit 148, a vacuum source 106, and a power supply unit 150,among other components. The power supply unit 150 is configured tosupply electrical power to the driving mechanism 104, the control unit148, and the vacuum source 106. The autonomous cleaning robot 100further comprises a cleaning component 116 (as shown in FIGS. 2 and 3).In the embodiments illustrated herein, the cleaning component 116 is aduster. Nevertheless, other cleaning components may be employed withoutlimitation. The cleaning component 116 is removably connected to thebottom portion 134 (as shown in FIG. 4) of the base 110 of theautonomous cleaning robot 100 and thus the cleaning component 116 iseasy to wash or replace. Of course, the cleaning component 116 could bea sponge rather than a duster, among other suitable cleaning components.The cleaning component 116 also acts as a seal to maintain a suitabledegree of vacuum pressure to hold the autonomous cleaning robot againstthe planar surface.

FIG. 8 is a bottom view of a conventional robotic window cleaner. Therobotic window cleaner of FIG. 8, is disclosed in China patentapplication No. CN202669947U. The robotic window cleaner shown in FIG. 8includes an absorption device 1, a driving mechanism 2, and a cleaningcomponent 3. The absorption device 1 includes a suction cup unit, aninner vacuum pump 15, an outer vacuum pump 16, an inner guiding pipe 17,and an outer guiding pipe 18. The suction cup unit includes an innersuction cup 11 and an outer suction cup 12, the inner suction cup 11 isarranged inside the outer suction cup 12. The inner suction cup 11 isconnected to the inner vacuum pump 15. The outer suction cup 12 isconnected to the outer vacuum pump 16. A hollow cavity inside the innersuction cup 11 forms an inner negative pressure chamber by means ofvacuum suction, and a hollow cavity between the inner suction cup 11 andthe outer suction cup 12 forms an outer negative pressure chamber bymeans of vacuum suction, wherein the outer negative pressure chamber isconnected with a vacuum degree detection unit. When the window cleaningrobot shown in FIG. 8 detects the hollow cavity between the innersuction cup 11 and the outer suction cup 12 leaks air, the robot willturn direction to avoid danger. But the distance S between the innersuction cup 11 and the outer suction cup 12 is too close, such that therobot does not have time to respond to avoid danger.

Accordingly, the configuration of the window cleaning robot shown inFIG. 8 can be improved to provide much faster response time to avoidpotentially dangerous and destructive situations when a vacuum leakoccurs during operation of the window cleaning robot. To address theseand other limitations associated with the window cleaning robot shown inFIG. 8, the embodiments described hereinbelow comprise vacuum systems toavoid potentially dangerous and destructive situations when a vacuumleak occurs during the operation of the window cleaning robot.

As disclosed in China patent application No. CN202537389U, there existwindow cleaning robots that can detect an edge of a frameless glasspane. Such robots comprise a feeler sensor and a control unit. When therobot moves near the edge of the glass pane, a feeler of the feelersensor leaves from the surface of the glass pane and then the controlunit controls the robot turn direction to avoid danger. Such feelersensors, however, cannot detect edges by detecting when a drop on thedegree of vacuum occurs, as described in connection with the embodimentsshown in FIGS. 9-13.

FIG. 9 is a bottom view of an autonomous planar surface cleaning robot300 comprising a single vacuum source 306 and multiple apertures 332 influid communication with the vacuum source 306 in accordance with oneembodiment. The structural and functional operational features of theautonomous cleaning robot 300 shown in FIG. 9 are substantially similarto those described in connection the autonomous cleaning robot 100 shownin FIGS. 1-4, 6, and 7, for example. For the sake of clarity ofdisclosure and to reveal the underlying structures, the cleaningcomponent has been omitted from the embodiment of the autonomouscleaning robot 300 shown in FIG. 9. A longitudinal axis 301 defines leftand right halves of the main body 302 along a direction parallel to thedirection of the driving mechanism 304. A transverse axis 303 intersectsthe longitudinal axis 301 orthogonally and defines front and back halvesof the main body 302.

The present embodiment of the autonomous cleaning robot 300 is directedto a window cleaning robot configured to sense the occurrence of a dropin the degree of vacuum pressure within a vacuum cavity 314 and torespond in a sufficient amount of time to redirect the motion of theautonomous cleaning robot 300 to avoid a dangerous or destructivesituation. The autonomous cleaning robot 300 comprises a control unit(not shown), a driving mechanism 304, and a vacuum source 306. Thebottom portion 334 of the base 310 comprises a recessed portion thatdefines a vacuum cavity 314, which is in fluid communication with thevacuum source 306. Thus, when the vacuum source 306 is activated, anegative pressure is developed between the planar surface and the vacuumcavity 314. Multiple apertures 332 are arranged on at least one side ofthe base 310 of the autonomous cleaning robot 300. The apertures 332 arein fluid communication with the vacuum cavity 314 and the vacuum source306 through multiple fluid channels 352. Of course, the apertures 332may be provided on other side except for above mentioned as well,without limitation. In one embodiment, the apertures are prior to beprovided on the side of the base in accordance with the moving directionof the autonomous cleaning robot 300.

When the autonomous cleaning robot 300 is located on a planar surfacewith the vacuum source 306 activated, the transmission components 304 a,304 b, in parallel relationship relative to each other, propel theautonomous cleaning robot 300 along the planar surface. However, whenthe autonomous cleaning robot 300 moves to an edge of a planar surfacewithout a lip or frame structure provided around its edges, one or moreof the multiple apertures 332 can extend over the edge and be exposed toatmospheric pressure causing the degree of vacuum pressure within thevacuum cavity to drop. Such exposure of the one or more apertures 332 toatmospheric pressures reduces the negative vacuum pressure within thevacuum cavity 314 that keeps the autonomous cleaning robot 300 attachedto the planar surface.

When the vacuum sensor 336 senses that the degree of vacuum pressure inthe vacuum cavity 314 has dropped below a predetermined threshold, thevacuum sensor 336 sends a message or signal to the control unit 148(FIGS. 7 and 28). In response, the control unit 148 causes the motion ofthe autonomous cleaning robot 300 to be redirected away from the edgesof the planar surface until the degree of vacuum pressure in the vacuumcavity 314 is restored to a value above the predetermined threshold.Thus a potentially dangerous and destructive situation may be avoided.The predetermined vacuum threshold is selected to enable the suction tohold the autonomous robot 300 against the planar surface while stillbeing able to move across its surface.

It will be appreciated that the autonomous cleaning robot 300 is capableof moving in any direction by independently controlling the rotationalspeed of each of the two components of the transmission components 304a, 304 b. Thus, by making one component 304 a of the driving mechanism304 move faster than the other component 304 b, the autonomous cleaningrobot 300 can be steered in a desired direction. In one aspect, theautonomous cleaning robot 300 is capable of making 360 degree turns inplace by making one component 304 a of the driving mechanism 304 goforward and the other component 304 b go backward.

FIGS. 10 and 11 are diagrams illustrating the operational mode of theautonomous planar surface cleaning robot 300 described in connectionwith FIG. 9. Also, for the sake of clarity of disclosure and to show theunderlying structures, the cleaning component has been omitted from theembodiment of the autonomous cleaning robot 300 shown in FIGS. 10 and11.

Accordingly, FIG. 10 depicts a bottom view of the autonomous planarsurface cleaning robot 300 shown in FIG. 9 where the robot 300 is nowshown in operation disposed behind a frameless planar surface 354 fromthe viewing perspective in accordance with one embodiment. It will beappreciated that the term frameless as used herein refers to asubstantially planar surface 354 with a lip or frame structure aroundits perimeter to arrest or interfere with the motion of the autonomouscleaning robot 300. Therefore, without any feedback control system, likethe one described in connection with FIG. 9, there is nothing to preventthe autonomous cleaning robot 300 from extending beyond and falling offone of the edges 356 of the planar surface 354. As shown in FIG. 10, theautonomous cleaning robot 300 is attached to the vertical planar surface354, a window pane, by way of suction generated in the vacuum cavity 314when the vacuum source 306 is activated. The autonomous cleaning robot300 employs the transmission components 304 a, 304 b to propel itselfacross the planar surface 354.

FIG. 11 depicts a bottom view of the autonomous planar surface cleaningrobot 300 shown in FIG. 10 where the robot 300 is now shown in operationpartially disposed behind the frameless planar surface 354 from theviewing perspective in accordance with one embodiment. As shown, thelower left corner 358 (as viewed from the bottom) of the autonomouscleaning robot 300 has extended beyond the bottom frameless edge 356 ofthe planar surface 354 such that one of the apertures 332 is exposed toatmospheric pressure causing the vacuum cavity 314 to be fluidicallycoupled to atmospheric pressure through one of the fluid channels 352fluidically coupling the aperture 332 to the vacuum cavity 314. Thiscauses the degree of vacuum pressure within the vacuum cavity 314 todrop below a predetermined pressure. The vacuum sensor 336 senses thechange in the vacuum pressure in the vacuum cavity 314 and sends amessage or a signal to the control unit 148 (FIGS. 7 and 28). Inresponse, the control unit 148 causes the motion of the autonomouscleaning robot 300 to be redirected away from the edges 356 of theplanar surface 354 by controlling the transmission components 304 a, 304b until the degree of vacuum pressure in the vacuum cavity 314 isrestored to a value above the predetermined threshold. Accordingly, thefeedback system is quick to respond to vacuum leaks caused by theexposure of one or more of the apertures 332 to atmospheric pressurewhen the autonomous cleaning robot 300 extends beyond an edge 356 of aplanar surface 354 being cleaned. Accordingly, a potentially dangerousand destructive situation such as the autonomous cleaning robot 300losing vacuum pressure against the planar surface 354 and falling offmay be avoided.

FIGS. 12 and 13 are diagrams illustrating the operational mode of oneembodiment of an autonomous planar surface cleaning robot 400 comprisingmultiple vacuum sources 406, 460. For the sake of clarity of disclosureand to show the underlying structures, the cleaning component has beenomitted.

FIG. 12 depicts a bottom view of an autonomous planar surface cleaningrobot 400 comprising multiple vacuum sources 406, 460 where the robot400 is now shown in operation disposed behind a frameless planar surface354 from the viewing perspective in accordance with one embodiment. Theautonomous cleaning robot 400 shown in FIG. 12 comprises transmissioncomponents 404 a, 404 b, in parallel relationship relative to eachother, a first vacuum source 406, and a recessed portion that acts as avacuum cavity 414 when the first vacuum source 406 is activated. A firstsensor 436 is configured to sense the vacuum pressure that develops inthe vacuum cavity 414. The operational details of the driving mechanism404 and the first vacuum source 406 have been described in connectionwith the embodiments illustrated in FIGS. 1-4, 6, and 9-11 andtherefore, for conciseness and clarity of presentation, such detailswill not be repeated here. As shown in FIG. 12, the second vacuum source460 is fluidically coupled to multiple apertures 432 formed around aperimeter of the base portion of the autonomous cleaning robot 400. Themultiple apertures 432 are fluidically coupled via a first fluid channel452. Both the multiple apertures 432 and the first fluid channel 452 arefluidically coupled to the second vacuum source 460 via a second fluidchannel 458. A second vacuum sensor 462 is fluidically coupled to themultiple apertures 432, the first and second fluid channels 452, 458 andthe second vacuum source 460 to determine a drop in the degree of vacuumpressure therein.

Most notably, in the embodiment illustrated in FIGS. 12 and 13, thefirst vacuum source 406 is fluidically isolated from the second vacuumsource 460 and the multiple apertures 432 are not in fluid communicationwith the vacuum cavity 414. The first vacuum source 406 and the firstvacuum sensor 436 are associated with the vacuum cavity 414, which isconfigured to hold the autonomous cleaning robot 400 in suction againstthe planar surface 354 whereas the second vacuum source 460, multipleapertures 432, and the second vacuum sensor 462 are used to sense theedge 356 of the planar surface 354. Thus, when the second vacuum sensor462 senses the degree of vacuum pressure dropping below a predeterminedthreshold, the control unit 148 (FIGS. 7 and 28) causes the motion ofthe autonomous cleaning robot 400 to be redirected away from the edges356 of the planar surface 354 by controlling the transmission components404 a, 404 b until the degree of vacuum pressure in the first fluidchannel 452 is restored to a value above the threshold. Accordingly,this arrangement cannot affect the degree of vacuum pressure in thevacuum cavity 414 utilized for holding the autonomous cleaning robot 400against the planar surface 354 when the multiple apertures 432 leak air.Thus, the safety of the autonomous cleaning robot 400 is ensured.

FIG. 13 depicts a bottom view of the autonomous planar surface cleaningrobot 400 shown in FIG. 12 where the robot 400 is now shown in operationpartially disposed behind the frameless planar surface 354 from theviewing perspective in accordance with one embodiment. As shown in FIG.13, the lower left corner 458 (as viewed from the bottom) of theautonomous cleaning robot 400 has extended beyond the bottom framelessedge 356 of the planar surface 354 such that one of the apertures 432 isexposed to atmospheric pressure causing the vacuum in the second cannel452 to drop. The second vacuum sensor 462 senses the change in thedegree of vacuum pressure in the second cannel 452 and sends a messageor a signal to the control unit (FIGS. 7 and 28). In response, thecontrol unit causes the motion of the autonomous cleaning robot 400 tobe redirected away from the edges 356 of the planar surface 354 bycontrolling the transmission components 404 a, 404 b until the degree ofvacuum pressure in the second cannel 452 is restored to a value abovethe predetermined threshold.

The feedback system is quick to respond to vacuum leaks caused by theexposure of one or more of the apertures 432 when the autonomouscleaning robot 400 extends beyond an edge 356 of a planar surface 354being cleaned. Accordingly, a potentially dangerous and destructivesituation such as the autonomous cleaning robot 400 losing vacuumpressure against the planar surface 354 and falling off may be avoided.Furthermore, since the vacuum cavity 414, which is holding theautonomous cleaning robot 400 against the planar surface 354 is isolatedfrom the multiple apertures 432, there is no affect on the holdingsuction when one or more of the apertures 432 begin to leak vacuumpressure.

Having described several embodiments of autonomous planar surfacecleaning robots, China patent application No. CN1075246 discloses awindow cleaning device that includes a vacuum housing and a duster. Theduster surrounds the vacuum housing, which connects to the outside ofthe vacuum source. The device attaches to a glass pane by the negativepressure generated by the vacuum housing. The device, however, does notinclude a driving mechanism and is manually moved by a pole connected tothe device. Several shortcomings of this device include manual operationand the vacuum source being located outside of the device makes itdifficult to operate. The embodiments disclosed hereinbelow inconnection with FIGS. 14-17 overcome these and other shortcomings andprovide an autonomous planar surface cleaning robot 500, 600 where thevacuum source is recessed with respect to cleaning component, e.g., theduster. The embodiments further comprise a driving mechanism, a vacuumsource, and a cleaning component. The cleaning component extendsoutwardly beyond the driving mechanism and the vacuum source such thatthe cleaning component can provide a vacuum seal and auto-clean theplanar surface effectively.

Accordingly, turning now to FIG. 14, there is shown a top perspectiveview of an autonomous planar surface cleaning robot 500 comprising avacuum source 510 in accordance with one embodiment. FIG. 15 is a bottomperspective view of the autonomous planar surface cleaning robot 500shown in FIG. 14. With reference now to both FIGS. 14 and 15, theautonomous planar surface cleaning robot 500 comprises a main body 502,a driving mechanism 504, a vacuum source 510, and a cleaning component506, e.g., a duster. Elements of the transmission components 504 a, 504b, in parallel relationship relative to each other, are contained withincorresponding guards 518 a, 518 b. A vacuum cavity 508 is defined at thebase 512 of the main body 502. The vacuum cavity 508 is recessedrelative to the cleaning component 506 such that the cleaning component506 can provide a vacuum seal against the planar surface as well as anuninterrupted cleaning surface to effectively clean the planar surface.In other words, the cleaning component 506 performs dual functions. Thefirst function provides a vacuum seal against the planar surface and thesecond function provides an uninterrupted cleaning surface for cleaningthe planar surface. The transmission components 504 a, 504 b move theautonomous cleaning robot 500 about the planar surface. As shown in FIG.15, the surface area S of the cleaning component 506 is the vacuumsealing area.

FIG. 16 is a top perspective view of an autonomous planar surfacecleaning robot 600 comprising multiple vacuum sources 610, 614 inaccordance with one embodiment. FIG. 17 is a bottom perspective view ofthe autonomous planar surface cleaning robot 600 shown in FIG. 16. Withreference now to both FIGS. 16 and 17, the autonomous planar surfacecleaning robot 600 comprises a main body 602, a driving mechanism 604, afirst vacuum source 610, a second vacuum source 614, and a cleaningcomponent 606, e.g., a duster. Elements of the transmission components604 a, 604 b are contained within corresponding guards 618 a, 618 b, inparallel relationship relative to each other. A vacuum cavity 608 isdefined at the base 612 of the main body 602. The vacuum cavity 608 isrecessed relative to the cleaning component 606 such that the cleaningcomponent 606 can provide a vacuum seal against the planar surface aswell as an uninterrupted cleaning surface to effectively clean theplanar surface. In other words, the cleaning component 606 performs twofunctions. The first function provides a vacuum seal against the planarsurface and the second function provides an uninterrupted cleaningsurface for cleaning the planar surface. The transmission components 604a, 604 b move the autonomous cleaning robot 500 about the planarsurface. As shown in FIG. 17, the surface area S of the cleaningcomponent 606 is the vacuum sealing area.

FIG. 18 is a top perspective view of a planar surface cleaning device700 comprising multiple vacuum sources 710, 714 and a connector pole 716in accordance with one embodiment. FIG. 19 is a bottom perspective viewof the planar surface cleaning device 700 shown in FIG. 18. Withreference now to both FIGS. 18 and 19, the planar surface cleaningdevice 700 comprises a main body 702, a first vacuum source 710, asecond vacuum source 714, a cleaning component 706, e.g., a duster, anda connector pole 716 attached to the main body 702. A vacuum cavity 708is defined at the base 712 of the main body 702. The vacuum cavity 708is recessed relative to the cleaning component 706 such that thecleaning component 706 can provide a vacuum seal against the planarsurface as well as an uninterrupted cleaning surface to effectivelyclean the planar surface. In other words, the cleaning component 706performs two functions. The first function provides a vacuum sealagainst the planar surface and the second function provides anuninterrupted cleaning surface for cleaning the planar surface.

As shown in FIG. 19, the surface area S of the cleaning component 706 isthe vacuum sealing area. The planar surface cleaning device 700 isattached to the planar surface by vacuum suction created by the twovacuum sources 710, 714. The connector pole 716 comprises a handleportion 718 connected to a U shaped portion 720, which is pivotallyconnected to housing members 722 at pivot points 724. Since the device700 does not include a driving mechanism, it is operated manually by wayof the handle portion 718. Accordingly, the device 700 is moved across aplanar surface while the vacuum sources 710, 714 are activated by way ofthe connector pole 716.

FIG. 20 is a top view of one component of a transmission component 104 afor an autonomous planar surface cleaning robot in accordance with oneembodiment. FIG. 21 is a side view of the component of the transmissioncomponent 104 a shown in FIG. 20. The transmission component 104 a shownin FIGS. 20 and 21 is representative of the transmission components 104a, 304 a, 404 a, 504 a, 604 a for the autonomous cleaning robots 100,300, 400, 500, 600 described in connection with FIGS. 1-4, 6, 7, 9-17.For clarity of presentation, the transmission mechanism 104 a will bedescribed in connection with the autonomous cleaning robot 100 with theunderstanding that the same or similar driving mechanism can be adaptedand configured for use with any of the other autonomous cleaning robots100, 300, 400, 500, 600.

With reference now to FIGS. 2-4, 6, and 20-22, the autonomous cleaningrobot 100 comprises two transmission components 104 a, 104 b arranged tothe left and right side of the main body 102 relative to the forwarddirection of motion. Each transmission components 104 a, 104 b comprisesa motor 105 a, 105 b, a gear reducer 152 a, 152 b (not shown), and atransmission system 154 a, 154 b (not shown). The transmission system154 a comprises a synchronization belt 156, a synchronization drivingwheel 158, and a synchronization wheel 160. In operation, the motor 105a drives the synchronization driving wheel 158 to run thesynchronization wheel 160 via the synchronization belt 156.

FIG. 22 is an exploded view of a portion of the transmission components104 a shown in FIGS. 20 and 21 in accordance with one embodiment. Asshown in FIG. 22, the gear reducer 152 a comprises two components. Afirst gear box component 162 comprises a cover 164, a worm gear 166, anda worm 168. A second inner gear component 170 comprises an inner gearcover 171, multiple planet gears 172, and output driving mechanism 176.The worm 168 is rotatably movable within an opening 169 formed in thecovers 164, 171. The motor axle 174 is operatively coupled to the worm168, which drives the worm gear 166. The output driving mechanism 176comprises a longer shaft 180 that is operatively coupled to the wormgear 166 by way of a hub 182, four shorter shafts 178 to receive each ofthe four planet gears 172, and an output drive axle 184 that is receivedthrough the inner gear component 170 and is operatively coupled to thesynchronization driving wheel 158. The planet gears 172 are received inmeshing arrangement inside the inner gear 186. The gear box component162 is arranged between the motor 105 a and the synchronization wheel160. This arrangement provides that the center axis 188 of the motor 151is orthogonal with respect to the center axis 190 of the synchronizationdriving wheel 158. This arrangement provides a compact structure thatsaves space along the center axis 190 direction of the synchronizationdriving wheel 158. Therefore, this arrangement reduces the required sizeof the internal structure of the robot 100. The configuration of theinner gear component 170 provides small volume, large reduction rate,large torque, and compact structure.

FIG. 23 is a perspective view of a driving mechanism 800 for aconventional window cleaner. Traditionally, the autonomous planarsurface cleaning robots 100, 300, 400, 500, 600 described in connectionwith FIGS. 1-4, 6, 7, 9-17 comprise a driving unit. FIG. 23 illustratesone embodiment of a driving mechanism 800 suitable for use with suchrobots 100, 300, 400, 500, 600. The driving mechanism 800 comprises amotor (not shown but see FIGS. 19-22 for an example), a driving wheel802, and a gear reducer (not shown but see FIGS. 19-22 for an example).The driving mechanism 800 comprises a track 804 and a plurality of pads806. The track 804 structure, however, is prone to air leaks, is noisy,and can cause large vibrancy.

FIG. 24 is a left side view of a transmission system 900 of a drivingmechanism for an autonomous planar surface cleaning robot in accordancewith one embodiment. The driving mechanism comprises two drivingcomponents arranged at the left and the right side of the main body ofthe robot relative to the direction of motion. Each driving mechanismcomprises a motor, a gear reducer, and a transmission system 900. Anexample of a motor and gear reducer is described in connection withFIGS. 20-22, for example. As shown in FIG. 24, the transmission system900 comprises a synchronization belt 902, a synchronization drivingwheel 904, and a synchronization wheel 906. A motor drives thesynchronization driving wheel 904 to run the synchronization wheel 906via the belt 902.

In one embodiment, the belt 902 can be formed of one single material. Inone embodiment, the belt 902 is made of silica gel and its rigiditycould be from 40 to 60. Also the same material with hard and softcharacter can be used together. The belt comprises an outer layer and aninner layer. The outer layer is soft and its rigidity could be from15˜60. The inner layer is hard and its rigidity could be from 40˜90.However, in other embodiments, the belt 902 can be made of two separatematerials that do not have the same rigidity; one material forming anouter layer and another material forming an inner layer, for example.The outer layer of the belt 902 may be made of rubber or silica gel tosupply large friction for moving the robot across vertical planarsurfaces such as window panes, for example. The inner layer of the belt902 can be made of hard rubber to provide adequate hardness for rotatingthe synchronization driving wheel 904 and the synchronization wheel 906via the belt 902. Because the belt 902 is flat, the driving mechanism issmooth while the robot moves.

FIG. 25 is a bottom view of an autonomous planar surface cleaning robot1000 having a first driving mechanism configuration in accordance withone embodiment. The autonomous cleaning robot 1000 comprises a main body1002, a driving mechanism 1004, a vacuum source 1006, and a cleaningcomponent 1016. A longitudinal axis 1001 defines left and right halvesof the main body 1002 along a direction parallel to the direction of thedriving mechanism 1004. A transverse axis 1003 intersects thelongitudinal axis 1001 orthogonally and defines front and back halves ofthe main body 1002. A vacuum cavity 1014 is defined in the center of themain body 1002. The cleaning component 1016 is arranged at the outsideof the vacuum cavity 1014. Other elements of the autonomous cleaningrobot 1000 have been omitted for conciseness and clarity ofpresentation.

The driving mechanism 1004 comprises two transmission components 1004 a,1004 b arranged at the left and the right side of the main body 1002relative to forward moving direction and in parallel relationshiprelative to each other. Each one of the transmission components 1004 a,1004 b comprises a motor 1038 a, 1038 b, a gear reducer (not shown butan example is described in FIGS. 20-22), and a transmission device (notshown but an example is described in FIGS. 20-22). As shown in FIG. 25,both motors 1038 a, 1038 b are positioned on the inner side of thetransmission components 1004 a, 1004 b and on the same ends.

FIG. 26 is a bottom view of an autonomous planar surface cleaning robot1100 having a first driving mechanism configuration in accordance withone embodiment. The autonomous cleaning robot 1100 comprises a main body1102, a driving mechanism 1104, a vacuum source 1106, and a cleaningcomponent 1116. A longitudinal axis 1101 defines left and right halvesof the main body 1102 along a direction parallel to the direction of thedriving mechanism 1104. A transverse axis 1103 intersects thelongitudinal axis 1101 orthogonally and defines front and back halves ofthe main body 1102. A vacuum cavity 1114 is defined in the center of themain body 1102. The cleaning component 1116 is arranged at the outsideof the vacuum cavity 1114. Other elements of the autonomous cleaningrobot 1100 have been omitted for conciseness and clarity ofpresentation.

The driving mechanism 1104 comprises two transmission components 1104 a,1104 b arranged at the left and the right side of the main body 1102relative to forward moving direction and in parallel relationshiprelative to each other. Each one of the transmission components 1104 a,1104 b comprises a motor 1138 a, 1138 b, a gear reducer (not shown butan example is described in FIGS. 20-22), and a transmission device (notshown but an example is described in FIGS. 20-22). As shown in FIG. 26,both motors 1138 a, 1138 b are positioned on the outer side of thetransmission systems and on the same ends.

FIG. 27 is a bottom view of an autonomous planar surface cleaning robot1200 having a third driving mechanism configuration in accordance withone embodiment. FIG. 27 is a bottom view of an autonomous planar surfacecleaning robot 1200 having a first driving mechanism configuration inaccordance with one embodiment. The autonomous cleaning robot 1200comprises a main body 1202, a driving mechanism 1204, a vacuum source1206, and a cleaning component 1216. A longitudinal axis 1201 definesleft and right halves of the main body 1202 along a direction parallelto the direction of the driving mechanism 1204. A transverse axis 1203intersects the longitudinal axis 1201 orthogonally and defines front andback halves of the main body 1202. A vacuum cavity 1214 is defined inthe center of the main body 1202. The cleaning component 1216 isarranged at the outside of the vacuum cavity 1214. Other elements of theautonomous cleaning robot 1100 have been omitted for conciseness andclarity of presentation.

The driving mechanism 1204 comprises two transmission components 1204 a,1204 b arranged at the left and the right side of the main body 1202relative to forward moving direction and in parallel relationshiprelative to each other. Each one of the transmission components 1204 a,1204 b comprises a motor 1238 a, 1238 b, a gear reducer (not shown butan example is described in FIGS. 20-22), and a transmission device (notshown but an example is described in FIGS. 20-22). As shown in FIG. 27,both motors 1238 a, 1238 b are positioned the inner side of thetransmission device and the different ends.

FIG. 28 illustrates an architectural or component view of a control unit148 for an autonomous planar surface cleaning robot in accordance withone embodiment. In various embodiments, as illustrated, the control unit148 may comprise one or more processors 1362 (e.g., microprocessor,microcontroller) coupled to various sensors 1374 (e.g., motion sensors,vacuum sensors, encoders, castors, image sensors, optical sensors,ultrasonic sensors, among others), and a suitable driver 1370 circuit 9e.g., a DC motor driver circuit). In addition, to the processor(s) 1362,a storage 1364 (having operating logic 1366) and optional communicationinterface 1368, are coupled to each other as shown.

As described earlier, the sensors 1374 may be configured to detectparameters associated with the autonomous cleaning robots described suchas motion, direction, position, speed, vacuum pressure, among others.The processor 1362 processes the sensor data received from the sensor(s)1374 to provide feedback to the autonomous robot such as, for example,redirect the robot when a vacuum leak is detected indicating that therobot has exceeded the boundaries of a frameless planar surface such asa window pane. In this particular example, the processor 1362 sends asignal to the driver circuit 1370, which in turn causes the drivingmechanism to redirect the robot.

The processor 1362 may be configured to execute the operating logic1366. The processor 1362 may be any one of a number of single ormulti-core processors known in the art. The storage 1364 may comprisevolatile and non-volatile storage media configured to store persistentand temporal (working) copy of the operating logic 1366.

In various embodiments, the operating logic 1366 may be configured toprocess the sensor data, as described above. In various embodiments, theoperating logic 1366 may be configured to perform the initial processingof the sensor data, and transmit the data to a host computer, forexample, via the communication interface 1368. For these embodiments,the operating logic 1366 may be further configured to receive the sensordata associated and provide feedback to a hosting computer. In alternateembodiments, the operating logic 1366 may be configured to assume alarger role in receiving the sensor data and determining the feedback,e.g., but not limited to, redirecting the robot. In either case, whetherdetermined on its own or responsive to instructions from a hostingcomputer, the operating logic 1366 may be further configured to controlthe robot.

In various embodiments, the operating logic 1366 may be implemented ininstructions supported by the instruction set architecture (ISA) of theprocessor 1362, or in higher level languages and compiled into thesupported ISA. The operating logic 1366 may comprise one or more logicunits or modules. The operating logic 1366 may be implemented in anobject oriented manner. The operating logic 1366 may be configured to beexecuted in a multi-tasking and/or multi-thread manner. In otherembodiments, the operating logic 1366 may be implemented in hardwaresuch as a gate array, field programmable gate array (FPGA), programmablelogic device (PLD), or application specific integrated circuit (ASIC).

In various embodiments, the communication interface 1368 may beconfigured to facilitate communication between a peripheral device andthe control unit 148. The communication may include transmission of thecollected vacuum sensor data or motion, direction, position, and/orspeed data associated with the robot. In various embodiments, thecommunication interface 1368 may be a wired or a wireless communicationinterface. An example of a wired communication interface may include,but is not limited to, a Universal Serial Bus (USB) interface. Anexample of a wireless communication interface may include, but is notlimited to, a Bluetooth interface.

For various embodiments, the processor 1362 may be packaged togetherwith the operating logic 1366. In various embodiments, the processor1362 may be packaged together with the operating logic 1366 to form aSystem in Package (SiP). In various embodiments, the processor 1362 maybe integrated on the same die with the operating logic 1366. In variousembodiments, the processor 1362 may be packaged together with theoperating logic 1366 to form a System on Chip (SoC).

While the examples herein are described mainly in the context ofautonomous planar surface cleaning robots, it should be understood thatthe teachings herein may be readily applied to a variety of other typesof autonomous cleaning robots.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

While various details have been set forth in the foregoing description,it will be appreciated that the various aspects of the autonomous planarsurface cleaning robots may be practiced without these specific details.For example, for conciseness and clarity selected aspects have beenshown in block diagram form rather than in detail. Some portions of thedetailed descriptions provided herein may be presented in terms ofinstructions that operate on data that is stored in a computer memory.Such descriptions and representations are used by those skilled in theart to describe and convey the substance of their work to others skilledin the art. In general, an algorithm refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities which may, though need notnecessarily, take the form of electrical or magnetic signals capable ofbeing stored, transferred, combined, compared, and otherwisemanipulated. It is common usage to refer to these signals as bits,values, elements, symbols, characters, terms, numbers, or the like.These and similar terms may be associated with the appropriate physicalquantities and are merely convenient labels applied to these quantities.

Unless specifically stated otherwise as apparent from the foregoingdiscussion, it is appreciated that, throughout the foregoingdescription, discussions using terms such as “processing” or “computing”or “calculating” or “determining” or “displaying” or the like, refer tothe action and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

It is worthy to note that any reference to “one aspect,” “an aspect,”“one embodiment,” or “an embodiment” means that a particular feature,structure, or characteristic described in connection with the aspect isincluded in at least one aspect. Thus, appearances of the phrases “inone aspect,” “in an aspect,” “in one embodiment,” or “in an embodiment”in various places throughout the specification are not necessarily allreferring to the same aspect. Furthermore, the particular features,structures or characteristics may be combined in any suitable manner inone or more aspects.

Although various embodiments have been described herein, manymodifications, variations, substitutions, changes, and equivalents tothose embodiments may be implemented and will occur to those skilled inthe art. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications and variations as falling within the scope of thedisclosed embodiments. The following claims are intended to cover allsuch modification and variations.

Some or all of the embodiments described herein may generally comprisetechnologies for autonomous cleaning robots or otherwise according totechnologies described herein. In a general sense, those skilled in theart will recognize that the various aspects described herein which canbe implemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or any combination thereof can be viewedas being composed of various types of “electrical circuitry.”Consequently, as used herein “electrical circuitry” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of random access memory), and/or electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, or optical-electrical equipment). Those having skill in the artwill recognize that the subject matter described herein may beimplemented in an analog or digital fashion or some combination thereof.

The foregoing detailed description has set forth various embodiments ofthe devices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, or examples can be implemented,individually and/or collectively, by a wide range of hardware, software,firmware, or virtually any combination thereof. In one embodiment,several portions of the subject matter described herein may beimplemented via Application Specific Integrated Circuits (ASICs), FieldProgrammable Gate Arrays (FPGAs), digital signal processors (DSPs), orother integrated formats. Those skilled in the art will recognize,however, that some aspects of the embodiments disclosed herein, in wholeor in part, can be equivalently implemented in integrated circuits, asone or more computer programs running on one or more computers (e.g., asone or more programs running on one or more computer systems), as one ormore programs running on one or more processors (e.g., as one or moreprograms running on one or more microprocessors), as firmware, or asvirtually any combination thereof, and that designing the circuitryand/or writing the code for the software and or firmware would be wellwithin the skill of one of skill in the art in light of this disclosure.In addition, those skilled in the art will appreciate that themechanisms of the subject matter described herein are capable of beingdistributed as a program product in a variety of forms, and that anillustrative embodiment of the subject matter described herein appliesregardless of the particular type of signal bearing medium used toactually carry out the distribution. Examples of a signal bearing mediuminclude, but are not limited to, the following: a recordable type mediumsuch as a floppy disk, a hard disk drive, a Compact Disc (CD), a DigitalVideo Disk (DVD), a digital tape, a computer memory, etc.; and atransmission type medium such as a digital and/or an analogcommunication medium (e.g., a fiber optic cable, a waveguide, a wiredcommunications link, a wireless communication link (e.g., transmitter,receiver, transmission logic, reception logic, etc.), etc.).

All of the above-mentioned U.S. patents, U.S. patent applicationpublications, U.S. patent applications, foreign patents, foreign patentapplications, non-patent publications referred to in this specificationand/or listed in any Application Data Sheet, or any other disclosurematerial are incorporated herein by reference, to the extent notinconsistent herewith. As such, and to the extent necessary, thedisclosure as explicitly set forth herein supersedes any conflictingmaterial incorporated herein by reference. Any material, or portionthereof, that is said to be incorporated by reference herein, but whichconflicts with existing definitions, statements, or other disclosurematerial set forth herein will only be incorporated to the extent thatno conflict arises between that incorporated material and the existingdisclosure material.

One skilled in the art will recognize that the herein describedcomponents (e.g., operations), devices, objects, and the discussionaccompanying them are used as examples for the sake of conceptualclarity and that various configuration modifications are contemplated.Consequently, as used herein, the specific exemplars set forth and theaccompanying discussion are intended to be representative of their moregeneral classes. In general, use of any specific exemplar is intended tobe representative of its class, and the non-inclusion of specificcomponents (e.g., operations), devices, and objects should not be takenlimiting.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations are not expressly set forth herein for sakeof clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures may beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents, and/or wirelessly interactable, and/or wirelesslyinteracting components, and/or logically interacting, and/or logicallyinteractable components.

Some aspects may be described using the expression “coupled” and“connected” along with their derivatives. It should be understood thatthese terms are not intended as synonyms for each other. For example,some aspects may be described using the term “connected” to indicatethat two or more elements are in direct physical or electrical contactwith each other. In another example, some aspects may be described usingthe term “coupled” to indicate that two or more elements are in directphysical or electrical contact. The term “coupled,” however, also maymean that two or more elements are not in direct contact with eachother, but yet still co-operate or interact with each other.

In some instances, one or more components may be referred to herein as“configured to,” “configurable to,” “operable/operative to,”“adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Thoseskilled in the art will recognize that “configured to” can generallyencompass active-state components and/or inactive-state componentsand/or standby-state components, unless context requires otherwise.

While particular aspects of the present subject matter described hereinhave been shown and described, it will be apparent to those skilled inthe art that, based upon the teachings herein, changes and modificationsmay be made without departing from the subject matter described hereinand its broader aspects and, therefore, the appended claims are toencompass within their scope all such changes and modifications as arewithin the true spirit and scope of the subject matter described herein.It will be understood by those within the art that, in general, termsused herein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to claims containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that typically a disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flows are presented in asequence(s), it should be understood that the various operations may beperformed in other orders than those which are illustrated, or may beperformed concurrently. Examples of such alternate orderings may includeoverlapping, interleaved, interrupted, reordered, incremental,preparatory, supplemental, simultaneous, reverse, or other variantorderings, unless context dictates otherwise. Furthermore, terms like“responsive to,” “related to,” or other past-tense adjectives aregenerally not intended to exclude such variants, unless context dictatesotherwise.

In certain cases, use of a system or method may occur in a territoryeven if components are located outside the territory. For example, in adistributed computing context, use of a distributed computing system mayoccur in a territory even though parts of the system may be locatedoutside of the territory (e.g., relay, server, processor, signal-bearingmedium, transmitting computer, receiving computer, etc. located outsidethe territory).

A sale of a system or method may likewise occur in a territory even ifcomponents of the system or method are located and/or used outside theterritory. Further, implementation of at least part of a system forperforming a method in one territory does not preclude use of the systemin another territory.

Although various embodiments have been described herein, manymodifications, variations, substitutions, changes, and equivalents tothose embodiments may be implemented and will occur to those skilled inthe art. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications and variations as falling within the scope of thedisclosed embodiments. The following claims are intended to cover allsuch modification and variations.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more embodiments has been presented for purposes ofillustration and description. It is not intended to be exhaustive orlimiting to the precise form disclosed. Modifications or variations arepossible in light of the above teachings. The one or more embodimentswere chosen and described in order to illustrate principles andpractical application to thereby enable one of ordinary skill in the artto utilize the various embodiments and with various modifications as aresuited to the particular use contemplated. It is intended that theclaims submitted herewith define the overall scope.

Various aspects of the subject matter described herein are set out inthe following numbered clauses:

1. An autonomous planar surface cleaning robot, comprising: a main bodyhaving a top portion and a bottom portion, the bottom portion definingan outer portion defining a surface area about a perimeter thereof andan inner portion defining a cavity formed within the outer portion; adriving mechanism supported by the main body; a vacuum source supportedby the main body and in fluid communication with the cavity; a vacuumsensor supported by the main body and in fluid communication with thecavity; and a control unit supported by the main body and electricallycoupled to the driving mechanism, the vacuum source, and the vacuumsensor, wherein the control unit is configured to control the robot toturn direction when the control unit receives a signal from the vacuumsensor indicating that a degree of vacuum pressure within the cavity isbelow a predetermined vacuum pressure.

2. The autonomous planar surface cleaning robot of clause 1, furthercomprising a handle, wherein the vacuum source further comprises avacuum motor and an impeller, and wherein at least a portion of thevacuum motor is located within a cavity of the handle.

3. The autonomous planar surface cleaning robot of clause 1, furthercomprising at least one aperture formed in the outer portion of thebottom portion of the main body, wherein the at least one aperture is influid communication with the cavity and the vacuum sensor.

4. The autonomous planar surface cleaning robot of clause 1, furthercomprising a cleaning component disposed over the surface area definedby the outer portion of the bottom portion of the main body.

5. The autonomous planar surface cleaning robot of clause 4, wherein thecleaning component is removably connected to the outer portion of thebottom portion of the main body.

6. The autonomous planar surface cleaning robot of clause 4, wherein thecleaning component extends outwardly beyond the driving mechanism andthe vacuum source to provide a vacuum seal.

7. The autonomous planar surface cleaning robot of clause 6, wherein thecleaning component provides the vacuum seal between a planar surface andthe cavity when the cleaning component is applied against the planarsurface.

8. The autonomous planar surface cleaning robot of clause 4, furthercomprising at least one aperture formed in the outer portion of thebottom portion of the main body, wherein the at least one aperture is influid communication with the cavity and the vacuum sensor and whereinthe cleaning component is disposed over the at least one aperture.

9. The autonomous planar surface cleaning robot of clause 1, wherein thedriving mechanism further comprises: a first transmission component; anda second transmission component spaced apart in parallel relationshiprelative to the first transmission component; wherein the first andsecond transmission components are located on either side of alongitudinal axis defined by the main body; and wherein each of thefirst and second transmission components are independently controllableby the control unit.

10. The autonomous planar surface cleaning robot of clause 9, whereineach of the transmission components further comprises: a motorelectrically coupled to the control unit; a gear reducer operativelycoupled to the motor; and a transmission system operatively coupled tothe gear reducer.

11. The autonomous planar surface cleaning robot of clause 10, whereinthe gear reducer further comprises: a first gear box componentcomprising a cover, a worm gear, and a worm; a second inner gearcomponent comprising an inner gear cover, multiple planet gears, andoutput driving mechanism.

12. The autonomous planar surface cleaning robot of clause 10, whereinthe transmission system further comprises: a synchronization belt; asynchronization driving wheel; and a synchronization wheel, wherein themotor is configured to rotatably drive the synchronization driving wheelto rotate the synchronization wheel via the synchronization belt.

13. The autonomous planar surface cleaning robot of clause 12, whereinthe synchronization belt is formed of single material.

14. The autonomous planar surface cleaning robot of clause 13, whereinthe synchronization belt is a material with hard and soft togethercharacter.

15. The autonomous planar surface cleaning robot of clause 12, whereinthe synchronization belt is formed of at least two different materialshaving different rigidity characteristics.

16. The autonomous planar surface cleaning robot of clause 15, whereinthe at least two different materials comprise: a first material formingan outer layer of the belt; and a second material forming an inner layerof the belt; wherein the first material is made of rubber or silica gelto supply large friction for moving the robot across the planar surfaceand the second material is made of hard rubber to provide adequatehardness for rotating the synchronization driving wheel and thesynchronization wheel via the belt.

17. An autonomous planar surface cleaning robot, comprising: a main bodyhaving a top portion and a bottom portion, the bottom portion definingan outer portion defining a surface area about a perimeter thereof andan inner portion defining a cavity formed within the outer portion; adriving mechanism supported by the main body; a first vacuum sourcesupported by the main body and in fluid communication with the cavity; asecond vacuum source supported by the main body and fluidically isolatedfrom the cavity; a vacuum sensor supported by the main body and in fluidcommunication with the second vacuum source through a fluid channel; anda control unit supported by the main body and electrically coupled tothe driving mechanism, the first and second vacuum sources, and thevacuum sensor, wherein the control unit is configured to control therobot to turn direction when the control unit receives a signal from thevacuum sensor indicating that a degree of vacuum pressure within thefluid channel is below a predetermined vacuum pressure.

18. The autonomous planar surface cleaning robot of clause 17, furthercomprising at least one aperture formed in the outer portion of thebottom portion of the main body, wherein the at least one aperture is influid communication with the fluid channel and the vacuum sensor and isin fluid isolation with the cavity.

19. The autonomous planar surface cleaning robot of clause 17, furthercomprising another vacuum sensor supported by the main body and in fluidcommunication with the cavity.

20. The autonomous planar surface cleaning robot of clause 17, furthercomprising a cleaning component disposed over the surface area definedon the outer portion of the bottom portion of the main body.

21. The autonomous planar surface cleaning robot of clause 20, whereinthe cleaning component is removably connected to the outer portion ofthe bottom portion of the main body.

22. The autonomous planar surface cleaning robot of clause 20, whereinthe cleaning component extends outwardly beyond the driving mechanismand the vacuum source to provide a vacuum seal.

23. The autonomous planar surface cleaning robot of clause 22, whereinthe cleaning component provides the vacuum seal between a planar surfaceand the cavity when the cleaning component is applied against the planarsurface.

24. A driving mechanism for an autonomous planar surface cleaning robot,the robot comprising a main body, a vacuum source, a vacuum sensor, anda control unit, the driving mechanism comprising: a first transmissioncomponent; and a second transmission component spaced apart in parallelrelationship relative to the first transmission component; wherein eachof the first and second transmission components defines first and secondends and first and second sides, wherein the first sides face each otherand the second sides face away from each other in a direction transversefrom the direction of motion and the first and second ends areoppositely spaced along the direction of motion; and wherein each of thefirst and second transmission components are independently controllableby the control unit.

25. The driving mechanism of clause 24, wherein the first transmissioncomponent comprises a first motor operatively coupled to the controlunit and the second transmission component comprises a second motoroperatively coupled to the control unit.

26. The driving mechanism of clause 25, wherein the first and secondmotors are positioned at the first sides of the first and secondtransmission components and at the first ends of the first and secondtransmission components.

27. The driving mechanism of clause 25, wherein the first and secondmotors are positioned at the second sides of the first and secondtransmission components and at the first ends of the first and secondtransmission components.

28. The driving mechanism of clause 25, wherein the first and secondmotors are positioned at the first sides of the first and secondtransmission components and the first motor is positioned at the firstend of the first transmission component and the second motor ispositioned at the second end of the second transmission component.

29. A planar surface cleaning apparatus, comprising: a main body havinga top portion and a bottom portion, the bottom portion defining an outerportion defining a surface area about a perimeter thereof and an innerportion defining a cavity formed within the outer portion; at least onevacuum source supported by the main body and in fluid communication withthe cavity; a cleaning component disposed over the surface area definedon the outer portion of the bottom portion of the main body; and aconnector pole comprising: a handle portion; and a U portion connectedto the handle portion, wherein the U portion is pivotally connected tothe main body.

30. The planar surface cleaning apparatus of clause 29, wherein thecleaning component is removably connected to the outer portion of thebottom portion of the main body.

31. The planar surface cleaning apparatus of clause 29, wherein thecleaning component provides a vacuum seal between a planar surface andthe cavity when the cleaning component is applied against the planarsurface.

1-20. (canceled)
 21. A planar surface cleaning robot comprising: a bodydefining a cavity; a vacuum source coupled to the cavity, the vacuumsource configured to generate a vacuum in the cavity as the planarsurface cleaning robot is positioned against a planar surface to supportthe planar surface cleaning robot on the planar surface; and a cleaningcomponent extending along a periphery of the cavity; wherein thecleaning component is configured to seal the cavity against the planarsurface to maintain the vacuum.
 22. The planar surface cleaning robot ofclaim 21, further comprising: a driving mechanism comprising: a firsttransmission component; and a second transmission component; wherein atleast one of the first transmission component or the second transmissioncomponent is located within the cavity; and a control unit coupled tothe driving mechanism, the control unit configured to independentlycontrol each of the first transmission component and the secondtransmission component to steer the planar surface cleaning robot. 23.The planar surface cleaning robot of claim 22, wherein the vacuum sourceis located between the first transmission component and the secondtransmission component.
 24. The planar surface cleaning robot of claim22, further comprising: a vacuum sensor configured to sense a vacuumpressure within the cavity; wherein the control unit is configured tocontrol at least one of the first transmission component or the secondtransmission component to steer the planar surface cleaning robotaccording to the vacuum pressure sensed by the vacuum sensor.
 25. Theplanar surface cleaning robot of claim 21, wherein the cleaningcomponent defines an inner perimeter, wherein at least part of thevacuum source is disposed within the inner perimeter.
 26. The planarsurface cleaning robot of claim 21, wherein the cleaning componentcomprises: an inner perimeter surrounding the cavity; and an outerperimeter aligned with a perimeter of the body.
 27. The planar surfacecleaning robot of claim 21, wherein a vacuum pressure generated by thevacuum source is >2.0 kPa.
 28. The planar surface cleaning robot ofclaim 21, wherein the body comprises an aperture fluidically coupled tothe cavity.
 29. The planar surface cleaning robot of claim 28, whereinthe aperture is positioned along a side of the body that is orientedorthogonally relative to a movement direction of the planar surfacecleaning robot.
 30. The planar surface cleaning robot of claim 21,wherein the cleaning component is removably connected to the body. 31.The planar surface cleaning robot of claim 21, wherein the cleaningcomponent is selected from the group consisting of a duster and asponge.
 32. A planar surface cleaning robot comprising: a body defininga cavity; a vacuum source coupled to the cavity, the vacuum sourceconfigured to pump air out of the cavity to form a negative air pressuretherein; a cleaning component extending about a periphery of the cavity;a first driving wheel coupled to a first motor; a second driving wheelcoupled to a second motor; and a control unit coupled to each of thefirst motor and the second motor, the control unit configured toindependently control each of the first motor and the second motor tosteer the planar surface cleaning robot; wherein the cleaning componentis configured to seal the cavity against a planar surface to maintain avacuum therein.
 33. The planar surface cleaning robot of claim 32,wherein at least one of the first driving wheel or the second drivingwheel is located within the cavity.
 34. The planar surface cleaningrobot of claim 32, wherein the vacuum source is located between thefirst driving wheel and the second driving wheel.
 35. A method ofcleaning a planar surface via a planar surface cleaning robot, theplanar surface cleaning robot comprising a body defining a cavity, avacuum source coupled to the cavity, a cleaning component extendingalong a periphery of the cavity and configured to seal the cavityagainst the planar surface to maintain a vacuum therein, a sensorconfigured to sense a vacuum pressure within the cavity, and a controlunit, the method comprising: controlling, by the control unit, thevacuum source to suction the planar surface cleaning robot to the planarsurface; steering, by the control unit, the planar surface cleaningrobot across the planar surface to thereby draw the cleaning componentacross the planar surface; determining, by the control unit, whether thevacuum pressure within the cavity as sensed by the sensor is below athreshold; and according to whether the vacuum pressure is below thethreshold, steering, by the control unit, the planar surface cleaningrobot such that the vacuum pressure within the cavity increases until itis above the threshold.
 36. The method of claim 35, wherein the bodycomprises an aperture fluidically coupled to the cavity.
 37. The methodof claim 36, wherein the aperture is positioned along a side of the bodythat is oriented orthogonally relative to a movement direction of theplanar surface cleaning robot.
 38. The method of claim 35, wherein: theplanar surface cleaning robot further comprises a first transmissioncomponent and a second transmission component; and steering the planarsurface cleaning robot comprises controlling, by the control unit, atleast one of the first transmission component or the second transmissioncomponent.
 39. The method of claim 38, wherein at least one of the firsttransmission component or the second transmission component is locatedwithin the cavity.